Dame Judi Dench has paid tribute to her good friend Geoffrey Palmer following his death at the age of 93 on Thursday.

The pair appeared together on the gentle sitcom As Time Goes By between 1992 and 2005 and also co-starred in the James Bond movie Tomorrow Never Dies.

Earlier today it was announced that Palmer had died "peacefully" at home and now Dench has shared her thoughts on her long-time colleague on Radio 4's Front Row.

"Oh my goodness how we laughed," she said. "We did nine [series] of As Time Goes By and it is too numerous to mention how many times.

"I used to stand there before each recording and think, 'How have I got myself into this?' I was always so frightened but there was no need.

"With Geoffrey Palmer there was no need. He was a master of comedy."

Palmer's other credits included The Rise and Fall of Reginald Perrin, Butterflies, Fawlty Towers and Doctor Who.